In this dissertation the control loop of attitude angle and collective piston loop are separately . the controller is designed at two scales . and the simulation shows the uncoupling of three attitudes angle loop is achieved with dynamic inversion scheme 在姿态角通道的设计中，采用了动态逆思想，按照时标分离的原则将直升机飞控系统划分为快慢回路，并采用动态逆方法对飞行控制系统进行设计和仿真，仿真结果表明动态逆在通道解耦方面非常有效。
